Prosper Van / Mbed 2 deprecated quadCommand2

added gy80 dcm

Dependencies:   mbed DCM_AHRS_GY80 PID MMA8451Q

Fork of quadCommand by Greg Abdo

quadCommand/quadCommand.h@6:21ae5e53bb5f, 2013-06-09 (annotated)

Committer:
dereklmc
Date:
Sun Jun 09 23:05:22 2013 +0000
Revision:
6:21ae5e53bb5f
Parent:
1:9b90e7de6e09
Child:
8:72791d8c36b7
Added PID controller objects to quadcommand

Who changed what in which revision?

UserRevisionLine numberNew contents of line
gabdo 0:8681037b9a18 1 /************************* quadCommand.h *********************************/
gabdo 0:8681037b9a18 2 /* */
gabdo 0:8681037b9a18 3 /*************************************************************************/
gabdo 0:8681037b9a18 4
gabdo 0:8681037b9a18 5 #ifndef QUAD_COMMAND_H
gabdo 0:8681037b9a18 6 #define QUAD_COMMAND_H
gabdo 0:8681037b9a18 7
gabdo 0:8681037b9a18 8 #include "mbed.h"
gabdo 0:8681037b9a18 9 #include "motor.h"
gabdo 0:8681037b9a18 10 #include "com.h"
gabdo 0:8681037b9a18 11 #include "sensors.h"
gabdo 0:8681037b9a18 12
gabdo 0:8681037b9a18 13 const PinName MOTOR1 = PTD4; // Pin used for motor 1.
gabdo 0:8681037b9a18 14 const PinName MOTOR2 = PTA12; // Pin used for motor 2.
gabdo 0:8681037b9a18 15 const PinName MOTOR3 = PTA4; // Pin used for motor 3.
gabdo 0:8681037b9a18 16 const PinName MOTOR4 = PTA5; // Pin used for motor 4.
gabdo 0:8681037b9a18 17
gabdo 0:8681037b9a18 18 const PinName TXPIN = PTD3; // Pin used for xbee TX.
gabdo 0:8681037b9a18 19 const PinName RXPIN = PTD2; // Pin used for xbee RX.
gabdo 0:8681037b9a18 20
dereklmc 6:21ae5e53bb5f 21 #define DEFAULT_WINDUP_GUARD 20.0f
dereklmc 6:21ae5e53bb5f 22
gabdo 0:8681037b9a18 23 class quadCommand
gabdo 0:8681037b9a18 24 {
gabdo 0:8681037b9a18 25 public:
gabdo 0:8681037b9a18 26 quadCommand(); // Constructor.
gabdo 0:8681037b9a18 27 void run(); // Loop.
gabdo 0:8681037b9a18 28 void rxInput(); // Deal with new input from xbee.
gabdo 0:8681037b9a18 29 void updatePosition();
gabdo 0:8681037b9a18 30 void txPosition();
gabdo 0:8681037b9a18 31
gabdo 0:8681037b9a18 32 private:
gabdo 0:8681037b9a18 33 motor *myMotors[4]; // Array of motor objects.
gabdo 0:8681037b9a18 34 com *myCom; // The com object.
gabdo 0:8681037b9a18 35 sensors *world; // Sensors used to observe the world.
gabdo 0:8681037b9a18 36
gabdo 1:9b90e7de6e09 37 float currentThrottle;
gabdo 1:9b90e7de6e09 38 float currentPitch;
gabdo 1:9b90e7de6e09 39 float currentRoll;
gabdo 1:9b90e7de6e09 40 float currentYaw;
gabdo 0:8681037b9a18 41
gabdo 1:9b90e7de6e09 42 float targetThrottle;
gabdo 1:9b90e7de6e09 43 float targetPitch;
gabdo 1:9b90e7de6e09 44 float targetRoll;
gabdo 1:9b90e7de6e09 45 float targetYaw;
dereklmc 6:21ae5e53bb5f 46
dereklmc 6:21ae5e53bb5f 47 PID pidPitch(1.5,0.1,1.20,DEFAULT_WINDUP_GUARD);
dereklmc 6:21ae5e53bb5f 48 PID pidRoll(1.5,0.1,1.20,DEFAULT_WINDUP_GUARD);
dereklmc 6:21ae5e53bb5f 49 PID pidYaw(1.5,0.1,1.20,DEFAULT_WINDUP_GUARD);
gabdo 0:8681037b9a18 50 };
gabdo 0:8681037b9a18 51
gabdo 0:8681037b9a18 52 #endif